README.md

May 22, 2025 · View on GitHub

Library for easily leveraging in-the-box FTC mechanisms and sensors, including

Name	Type
Arm	Motor Mechanism
Claw	Servo Mechanism
Drive	Motor Mechanism
Intake	Motor Mechanism
Lift	Motor Mechanism
Trigger	Servo Mechanism
Color	Sensor
Distance	Sensor
Touch	Sensor

This library greatly simplifies the implementation of common FTC robotics subsystems and features by abstracting away low-level decisions and providing a simplified, façade pattern API. As such, users will only need to use a few methods (command(), control(), and state()) due to a reliance on sane defaults and the builder design pattern

Who is this for?

The target audience is beginner-level FTC teams and hobbyists, but even advanced users can elect to utilize easy-ftc à la carte (e.g. leverage easy-ftc for peripheral devices so you can focus on more complex features like motion planning)

Features

Encoders can be used with minimal setup for either time- or distance-based commands
The IMU's Gyro can be leveraged with minimal setup for angle-based commands
Arm, Intake, and Lift optionally feature encoder limits on range-of-motion
ROBOT and FIELD-centric driving are supported for MECANUM
TANK and ARCADE are supported for DIFFERENTIAL
Servo-powered mechanisms can optionally leverage smooth-servo control
Lift and Drive optionally feature gamepad deadzones, mitigating stick/trigger drift
Routine tasks in the TeleOp phase (like a scoring sequence) can be easily modelled via CommandSequence

Each option requires that you download this repo's latest Android archive
Click on easy-ftc-release.aar at https://github.com/collegiate-edu-nation/easy-ftc/releases

OnBot Java

Upload the .aar using OnBot Java's GUI
Press the gear icon on the bottom right with the title 'Build Everything'

Android Studio

Add the .aar to FtcRobotController/libs/

Add implementation to TeamCode's build.gradle like so

dependencies {
    implementation project(':FtcRobotController')
    implementation files('../libs/easy-ftc-release.aar')
}

Blockly

While at the previous link, also click on myBlocks.zip
Upload the .aar and all relevant Java files from myBlocks using OnBot Java's GUI
- Each Java file in myBlocks/ will control a specific mechanism/sensor
Modify the myBlocks Java files to change behavior
- e.g. add .layout(Layout.ARCADE) to Drive.Builder in Drive.java
Press the gear icon on the bottom right with the title 'Build Everything'
A new menu option 'Java Classes' should be visible in the Blockly GUI now
Each class listed there will provide relevant methods from easy-ftc, like control(), command(), and state()

Contributing

CONTRIBUTING.md

License

GPLv3

README.md

Overview

What does this do?